• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.314-317
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• 1996

In this paper, we present a nonlinear adaptive controller for position tracking of induction motors. In constructing the adaptive controller, a backstepping approach is used under the condition of full state information, while a nonlinear observer is adopted for rotor flux estimation. The adaptive controller is shown to drive the state variables of system to the desired ones asymptotically and whose effectiveness is also shown via computer simulation.

• Proceedings of the KIPE Conference
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• 1998.07a
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• pp.357-360
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• 1998

본 논문에서는 TI(Texas Instruments)사의 DSP칩 TMS320F240을 이용한 벡터드라이브 설계를 한다. TMS320F240은 서보모터드 라이브에 적합하게 상품화 된 칩으로 산업용 로봇제어에 필요한 대부분의 주변회로를 포함하고 있다. 이를 이용해서 제어기를 구성하면 적은 비용으로 신뢰성 높은 제어기를 구성할 수 있다. 드라이브는 크게 제어회로부와 파워회로부로 나누어서 설계했으며, AC서보모터에 벡터제어로 실제적용을 했다.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2004.05a
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• pp.268-271
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• 2004

반도체 가공공정에서 웨이퍼의 정렬이나 각종 초정밀 가공에서 가공물의 각도를 미체 조정하기 위한 초정밀 메커니즘을 제안하였다. 일반적으로 각도를 결정하는 메커니즘은 기어를 이용한다. 기어를 이용할 경우 회전 분해능을 높일 수 있으나 기어의 백래쉬에 의한 오차가 있어 보다 높은 정밀도를 구현하기가 어렵다. 본 논문에서는 직접구동(direct drive) 방식과 이중서보(dual servo) 방식을 이용하여 기어를 사용하지 않고 회전 스테이지를 구현하였다.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.343-346
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• 2007

Recently, many nations have released standard such as EN61000-3-2 to impose a limit on the harmonic current to prevent distortion of AC line and to save energy. Also, the limit on the harmonic current makes use of a trade barrier. Therefore, Power factor correction must have been suitable for a limit on the harmonic current. This paper presents AC servo motor drive to have merits of high power factor for Desk-Top Robot.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.6
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• pp.484-491
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• 2005

Using a disturbance observer is effective in enhancing the performance of dynamic system in presence of disturbances. Although various types of disturbance observers have been proposed to improve sensitivity of systems, there exist poor transient responses due to cross-couplings among disturbance observer loops. In this paper, dual disturbance observer (DOB) is proposed to reduce the effects of the cross-couplings. A different type of loop transfer function is proposed for external disturbance observer. While improving the sensitivity function by adding external DOB, it also provides improved complementary sensitivity function. The proposed dual DOB is applied to a commercial optical disk drive tracking system. It is shown that the dual DOB is an effective method in rejecting the effect of disturbance as well as improving the tracking performance.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.370-372
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• 2004

This paper addresses the wavelet-based fuzzy PI/PD controller design using DNA coding method. A structure of fuzzy controller model is adopted as the wavelet transform of which the coefficients are identified. The proposed method overcomes some mathematical limits of conventional methods by using the fuzzy logic that is optimized by DNA coding method. The feasibility of the proposed fuzzy controller design scheme is verified by applying to the servo control of the optical disk drive.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.232-235
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• 2001

This paper presents a circuit of the quasi-resonant DC link to achieve soft-switching three phase inverter using intelligent IGBT power module. The soft-switching operation in this circuit is confirmed simulation and experimental results. Its conductive noise is measured for electrical AC motor drive as compared with that of the conventional hard switching inverter.

• Proceedings of the KIEE Conference
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• 1992.07b
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• pp.1221-1224
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• 1992

To obtain a robustness which is one of important characteristics needed in servo drive, the sliding mode control method is used as a control strategy. However, the undesired phenomenon of chattering is a serious problem. In this paper, an adaptive chattering alleviation algorithm for variable structure system control is proposed to solve this serious problem. Digital controller using the theory of chattering alleviation control is applied to the position control problem of an induction motor system. Comparisons of this algorithm with other variable structure system control algorithms indicate that the chattering can be alleviated. This controller is implemented using IBM-PC(8088 CPU) which controls current controlled PWM inverter consisted of IGBT as a switching device to drive motor.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.8
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• pp.1297-1302
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• 2017

Recently, SRMs are used in automobiles for power assistant steering, accessory motion control and traction drives. Especially in the motion control and traction drives, safety and efficiency are of paramount importance. The paper describes the essential elements faced in designing and constructing driving circuits for a switched reluctance motor for automobiles. An important factor in the selection of a motor and a drive for industrial application is the cost. The switched reluctance motor(SRM) is a simple, low-cost, and robust motor suitable for variable-speed as well as servo-type applications. With relatively simple converter and control requirements, the SRM is gaining an increasing attention in the drive industry. This paper presents a modified C-dump converter for Switched Reluctance Motor (SRM) machine application in the cooling system of automobiles. The experiments are performed to verify the capability of applicate control method on 6/4 salient type SRM.

• Proceedings of the KIPE Conference
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• 1999.07a
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• pp.84-87
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• 1999

This paper proposes an interfaces control system to drive a ultrasonic motors(USMs). To touch surfaces and objects created within a virtua environment, the 3 DOF force-reflecting interfaces provides force feedback to users, so to feel touching real things. To effectively display the mechanical impedance of the human hand we need a device with specific characteristics, such as low inertia almost zero friction and very high stiffness. As an actuator for direct drive method, the USMs have many good advantages satisfied these conditions over conventional servo motors. To estimate capability of this interface, we did an experiment. The device works very well, as user are able to detect the edge of the wall and the stiffness of the button.